# 4. Sniffer usage

You need to connect programmer-sniffer with your UAVCAN node via CAN socket and with your PC via USB.

There are 2 different CAN sockets. You can use any of them.

# Connection example diagram

The example of connection is shown below.

connection-sniffer

# 4.1. Cyphal usage

# Installing can-utils

apt-get install can-utils

# Tools

There are two main tools for configuration:

Yukon GUI - Download via this link (opens new window), chmod +x ./Downloads/Yukon-linux-x86_64 before run.
Yakut CLI:

pip install yakut

For detailed manuals, refer to the yukon (opens new window) and yakut (opens new window) repositories.

# Downloading DSDL

Retrieve the following:

To utilize a DSDL namespace, place its root namespace directory within the locations specified by CYPHAL_PATH. The following steps can guide you in this process:

# Ensure the directory exists.
mkdir -p ~/.cyphal

# Add namespaces from the public regulated data types repository:
wget https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip -O dsdl.zip
unzip dsdl.zip -d ~/.cyphal
mv -f ~/.cyphal/public_regulated_data_types*/* ~/.cyphal

# If needed, add vendor-specific namespaces:
wget https://github.com/Zubax/zubax_dsdl/archive/refs/heads/master.zip -O dsdl.zip
unzip dsdl.zip -d ~/.cyphal
mv -f ~/.cyphal/zubax_dsdl*/* ~/.cyphal

wget https://github.com/PonomarevDA/ds015/archive/refs/heads/pr-add-gnss.zip -O ds015.zip
unzip ds015.zip -d ~/.cyphal
mv -f ~/.cyphal/ds015-pr-add-gnss/ds015 ~/.cyphal

# Compile DSDL

export CYPHAL_PATH=~/.cyphal
yakut compile .cyphal/

# Set Up Environment Variables and SLCAN

Start by downloading the necessary scripts:

wget https://github.com/PonomarevDA/tools/raw/main/can/create_slcan_from_serial.sh
wget https://github.com/PonomarevDA/tools/raw/main/can/get_sniffer_symlink.sh
chmod +x create_slcan_from_serial.sh
chmod +x get_sniffer_symlink.sh

Subsequently, run the script below to configure your environment:

if ! [ -e /sys/class/net/slcan0 ]; then
 sudo ./create_slcan_from_serial.sh
fi
export UAVCAN__CAN__IFACE='socketcan:slcan0'
if [ -e /sys/class/net/slcan1 ]; then
 export UAVCAN__CAN__IFACE="$UAVCAN__CAN__IFACE socketcan:slcan1"
fi
echo "UAVCAN__CAN__IFACE=$UAVCAN__CAN__IFACE"
export UAVCAN__CAN__MTU=8
export UAVCAN__CAN__BITRATE='1000000 1000000'
export UAVCAN__NODE__ID=$(yakut accommodate)
echo "Auto-selected node-ID for this session: $UAVCAN__NODE__ID"